US11110927B2 - System for controlling braking energy regeneration step variable and method thereof - Google Patents

System for controlling braking energy regeneration step variable and method thereof Download PDF

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Publication number
US11110927B2
US11110927B2 US16/151,176 US201816151176A US11110927B2 US 11110927 B2 US11110927 B2 US 11110927B2 US 201816151176 A US201816151176 A US 201816151176A US 11110927 B2 US11110927 B2 US 11110927B2
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regeneration step
torque
controller
road gradient
vehicle
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US20190176827A1 (en
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Soo-Lim Han
Woo-Cheol Cho
Seung-Jae Yoo
Jea-Myoung Youn
Ja-Chun Han
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Hyundai Motor Co
Kia Corp
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Hyundai Motor Co
Kia Motors Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B60L7/18—Controlling the braking effect
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • B60L15/2018—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking for braking on a slope
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    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
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Definitions

  • Exemplary embodiments of the present disclosure relate to a regenerative braking technique in a vehicle including a drive motor and an electric storage device, and more particularly, to a system for controlling a braking energy regeneration step variably depending on a road gradient and a method thereof.
  • Braking in a vehicle including a drive motor and an electric storage device includes brake hydraulic braking and regenerative braking by a motor.
  • FIG. 1 is a view showing a regenerative torque depending on a vehicle speed for each regeneration step which is set by the paddle shift, and shows a difference in the regenerative torque depending on the regeneration step of four stages D 0 , D 1 , D 2 , and D 3 which are set by the paddle shift.
  • the regeneration step is adjusted depending only on the manual operation of the driver, there is an inconvenience that the driver frequently performs paddle shift input, acceleration and braking operations depending on the driving conditions such as the change in the road gradient. Therefore, the regenerative braking may not be performed efficiently, such that the expected fuel efficiency cannot be achieved.
  • An embodiment of the present disclosure is directed to a system for controlling braking energy regeneration step variably and a method thereof, in which driving conditions depending on a road gradient are determined along with a paddle shift manual input of a driver to control a regeneration step variably to thereby minimize unnecessary paddle shift input, acceleration, and braking operations, thereby improving driving convenience and fuel efficiency on a real road.
  • a system for variably controlling braking energy regeneration in a vehicle can include: an operation condition determiner configured to determine whether the vehicle is coasting and output gradient information based on a road gradient; a grade resistance based feed forward (FF) controller configured to receive the gradient information from the operation condition determiner and calculate a grade resistance torque as an FF control value; a deceleration based feedback (FB) controller configured to output an FB control value based on a difference between a difference between deceleration manually set by a driver using a paddle shift and an actual vehicle deceleration; and a coasting torque reflector configured to output a coasting torque including a correction torque calculated as a sum of the FF control value and the FB control value.
  • FF grade resistance based feed forward
  • FB deceleration based feedback
  • the operation condition determiner may determine whether a vehicle is coasting based on information on an accelerator position sensor (APS), a brake, and a gear stage and determine whether a road gradient is equal to or greater than a specific grade based on gradient information measured by a longitudinal acceleration sensor to finally determine that an operation condition of a regeneration step variable control is satisfied if the road gradient is greater than or equal to a specific grade during the coasting.
  • APS accelerator position sensor
  • brake brake
  • gear stage determine whether a road gradient is equal to or greater than a specific grade based on gradient information measured by a longitudinal acceleration sensor to finally determine that an operation condition of a regeneration step variable control is satisfied if the road gradient is greater than or equal to a specific grade during the coasting.
  • the operation condition determiner may provide the gradient information to the grade resistance based FF controller when the regeneration step variable control operation condition is satisfied.
  • the grade resistance based FF controller may use the gradient information to calculate a grade resistance torque and output the calculated grade resistance torque as an FF control value.
  • the deceleration based FB controller may output a feedback (FB) control value for feedback compensating for the difference between the deceleration depending on the regeneration step manually set by the driver and an actual vehicle deceleration by a PID control.
  • FB feedback
  • the coasting torque reflector may reflect a compensation torque calculated by a sum of the FF control value and the FB control value to the regenerative torque depending on the regeneration step manually set by the driver to output the coasting torque.
  • the system may further include: a regeneration step display inversely calculating the regeneration step having the regenerative torque approximating the sum of the regenerative torque depending on the regeneration step manually set by the driver and the grade resistance torque calculated by the grade resistance based FF controller so that the driver recognizes the regeneration step actually performed during the coasting and displaying the inversely calculated regeneration step.
  • a method for variably controlling braking energy regeneration step in a vehicle can include: determining, by an operation condition determiner, whether the vehicle is coasting and output gradient information based on a road gradient; receiving, by a grade resistance based feed forward (FF) controller, the gradient information from the operation condition determiner and calculating a grade resistance torque as an FF control value; outputting, by a deceleration based feedback (FB) controller, an FB control value based on a difference between a difference between deceleration manually set by a driver using a paddle shift and an actual vehicle deceleration; and outputting, by a coasting torque reflector, a coasting torque including a correction torque calculated as a sum of the FF control value and the FB control value.
  • FF grade resistance based feed forward
  • FB deceleration based feedback
  • the operation condition determiner may determine whether or not the operation condition of the regeneration step variable control is satisfied.
  • the grade resistance based FF controller may calculate the grade resistance torque and output the calculated grade resistance torque as the FF control value.
  • the deceleration based FB controller may output the FB control value for feedback compensating for the difference between the deceleration depending on the regeneration step manually set by the driver and the actual vehicle deceleration by the PID control.
  • the coasting torque reflector may reflect the compensation torque calculated by the sum of the FF control value and the FB control value to the regenerative torque depending on the regeneration step manually set by the driver to output the coasting torque.
  • the method may further include displaying a regeneration step in which a regeneration step display inversely calculates a regeneration step having a regenerative torque approximating a sum of the regenerative torque depending on the regeneration step manually set by the driver and the grade resistance torque calculated by the grade resistance based FF controller and displays the inversely calculated regeneration step.
  • FIG. 1 (RELATED ART) is a diagram showing a regenerative torque depending on a vehicle speed for each regeneration step which is set by a paddle shift.
  • FIG. 2 is a diagram showing a basic concept of the present disclosure.
  • FIG. 3 is a configuration diagram of a system for controlling braking energy regeneration step variably according to an embodiment of the present disclosure.
  • FIG. 4 is a configuration diagram of a method for controlling braking energy regeneration step variably according to an embodiment of the present disclosure.
  • vehicle or “vehicular” or other similar term as used herein is inclusive of motor vehicles in general such as passenger automobiles including sports utility vehicles (SUV), buses, trucks, various commercial vehicles, watercraft including a variety of boats and ships, aircraft, and the like, and includes hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles and other alternative fuel vehicles (e.g. fuels derived from resources other than petroleum).
  • a hybrid vehicle is a vehicle that has two or more sources of power, for example both gasoline-powered and electric-powered vehicles.
  • control logic of the present disclosure may be embodied as non-transitory computer readable media on a computer readable medium containing executable program instructions executed by a processor, controller or the like.
  • Examples of computer readable media include, but are not limited to, ROM, RAM, compact disc (CD)-ROMs, magnetic tapes, floppy disks, flash drives, smart cards and optical data storage devices.
  • the computer readable medium can also be distributed in network coupled computer systems so that the computer readable media is stored and executed in a distributed fashion, e.g., by a telematics server or a Controller Area Network (CAN).
  • a telematics server or a Controller Area Network (CAN).
  • CAN Controller Area Network
  • FIG. 2 is a diagram showing a basic concept of the present disclosure.
  • the present disclosure has a basic concept that if a difference in deceleration depending on a road gradient occurs due to the entry of a vehicle into a downhill road or an uphill road while the vehicle is coasting on a flatland at a defined deceleration depending on a regeneration step manually set by a driver, the regeneration step is variably controlled by reflecting a compensation torque depending on the difference in deceleration to continuously keep the driver the desired deceleration regardless of the road gradient during the regenerative braking without the driver performing paddle shift input, acceleration, and braking operations.
  • FIG. 3 is a configuration diagram of a system for controlling braking energy regeneration step variably according to an embodiment of the present disclosure.
  • the system for controlling braking energy regeneration step variably is configured to include an operation condition determiner 10 , a grade resistance based feed forward (FF) controller 20 , a deceleration based feed back (FB) controller 30 , and a casting torque reflector 40 .
  • FF grade resistance based feed forward
  • FB deceleration based feed back
  • the operation condition determiner 10 determines whether a vehicle is coasting based on information on an accelerator position sensor (APS), a brake, and a gear stage and determines whether the road gradient is equal to or greater than a specific grade based on gradient information measured by a longitudinal acceleration sensor. If the road gradient is greater than or equal to a specific grade during the coasting, the operation condition determiner 10 finally determines that the operation condition of the regeneration step variable control is satisfied and provides the gradient information to the grade resistance based FF controller 20 .
  • the grade resistance based FF controller 20 uses the gradient information to calculate a grade resistance torque as the following Equation 1 and outputs the calculated grade resistance torque as an FF control value.
  • Grade resistance torque (mg sin ⁇ ) ⁇ r ⁇ k (Equation 1).
  • m represents an empty vehicle weight of a vehicle
  • g represents a gravitational acceleration
  • ⁇ represents a road inclination angle
  • r represents a tire dynamic radius
  • k represents a compensating factor for reflecting other resistance elements.
  • the deceleration based FB controller 30 outputs an FB control value for feedback-compensating a difference between the deceleration depending on the regeneration step manually set by the driver and the actual vehicle deceleration by a proportional integral derivative (PID) control. Accordingly, the deceleration based FB controller 30 compensates for the vehicle deceleration error caused by the weight error of the vehicle and the road surface condition based on the FF control value output from the grade resistance based FF controller 20 .
  • PID proportional integral derivative
  • the coasting torque reflector 40 outputs a coasting torque by reflecting a correction torque calculated as a sum of the FF control value and the FB control value to a regenerative torque depending on the regeneration step manually set by the driver.
  • the system for controlling braking energy regeneration step variably according to the embodiment of the present disclosure may further include a regeneration step display (not illustrated) which inversely calculates the regeneration step having a regenerative torque approximating the sum of the regenerative torque depending on the regeneration step manually set by the driver and the grade resistance torque calculated by the grade resistance based FF controller 20 so that the driver may recognize the regeneration step actually performed during the coasting and displays the inversely calculated regeneration step (e.g. on an instrument panel).
  • a regeneration step display (not illustrated) which inversely calculates the regeneration step having a regenerative torque approximating the sum of the regenerative torque depending on the regeneration step manually set by the driver and the grade resistance torque calculated by the grade resistance based FF controller 20 so that the driver may recognize the regeneration step actually performed during the coasting and displays the inversely calculated regeneration step (e.g. on an instrument panel).
  • FIG. 4 is a configuration diagram of a method for controlling braking energy regeneration step variably according to an embodiment of the present disclosure.
  • the method for controlling braking energy regeneration step variably includes determining an operation condition (S 10 ), outputting a grade resistance based FF control value (S 20 ), outputting a deceleration based FB control value (S 30 ), reflecting a coasting torque (S 40 ), and displaying a regeneration step (S 50 ).
  • the operation condition determiner 10 determines whether or not the operation condition of the regeneration step variable control is satisfied.
  • the grade resistance based FF controller 20 calculates the grade resistance torque and outputs the calculated grade resistance torque as the FF control value.
  • the deceleration based FB controller 30 In the outputting of the deceleration based FB control value (S 30 ), the deceleration based FB controller 30 outputs the FB control value for feedback compensating for the difference between the deceleration depending on the regeneration step manually set by the driver and the actual vehicle deceleration by the PID control.
  • the coasting torque reflector 40 In the reflecting of the coasting torque (S 40 ), the coasting torque reflector 40 reflects the compensation torque calculated by the sum of the FF control value and the FB control value to the regenerative torque depending on the regeneration step manually set by the driver to output the coasting torque.
  • the regeneration step display (not illustrated) inversely calculates the regeneration step having the regenerative torque approximating the sum of the regenerative torque depending on the regeneration step manually set by the driver and the grade resistance torque calculated by the grade resistance based FF controller 20 and displays the inversely calculated regeneration step (e.g. on the instrument panel).
  • the system for controlling braking energy regeneration step variably and a method thereof according to the embodiment the present disclosure determines the driving conditions depending on the road gradient along with the paddle shift manual input of the driver to control the regeneration step variably to minimize the unnecessary paddle shift input, acceleration, and braking operations, thereby improving the driving convenience and the fuel efficiency on the real road.
  • the system for controlling braking energy regeneration step variably and method thereof according to the embodiment of the present disclosure can determine the driving conditions depending on the road gradient along with the paddle shift manual input of the driver to control the regeneration step variably, to thereby minimize the unnecessary paddle shift input, acceleration, and braking operations, thereby improving the driving convenience and the fuel efficiency on a real road.

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US16/151,176 2017-12-08 2018-10-03 System for controlling braking energy regeneration step variable and method thereof Active 2038-10-27 US11110927B2 (en)

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KR102506758B1 (ko) 2023-03-07

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